(define (problem multirobot_6_10%_c0)
 (:domain multirobot)
 (:objects
  v0 r16
  v1 r9
  v2 r15
  v3 r14
  v4 r6
  v5 r21
  v6 r20
  v7 r18
  v8 r2
  v9 r5
  v10 r19
  v11 r12
  v12 r4
  v13 r7
  v14 r10
  v15 r3
  v16
  v17 r11
  v18 r13
  v19
  v20 r17
  v21 r8
 )
 (:init
  (at r16 v0)
  (at r9 v1)
  (at r15 v2)
  (at r14 v3)
  (at r6 v4)
  (at r21 v5)
  (at r20 v6)
  (at r18 v7)
  (at r2 v8)
  (at r5 v9)
  (at r19 v10)
  (at r12 v11)
  (at r4 v12)
  (at r7 v13)
  (at r10 v14)
  (at r3 v15)
  (free v16)
  (at r11 v17)
  (at r13 v18)
  (free v19)
  (at r17 v20)
  (at r8 v21)
  (adjacent v0 v1)
  (adjacent v0 v4)
  (adjacent v1 v2)
  (adjacent v1 v8)
  (adjacent v1 v11)
  (adjacent v2 v3)
  (adjacent v2 v9)
  (adjacent v3 v4)
  (adjacent v3 v7)
  (adjacent v3 v13)
  (adjacent v4 v5)
  (adjacent v4 v10)
  (adjacent v4 v12)
  (adjacent v4 v16)
  (adjacent v5 v6)
  (adjacent v6 v7)
  (adjacent v6 v12)
  (adjacent v8 v9)
  (adjacent v9 v15)
  (adjacent v10 v11)
  (adjacent v13 v14)
  (adjacent v13 v21)
  (adjacent v14 v15)
  (adjacent v16 v17)
  (adjacent v17 v18)
  (adjacent v18 v19)
  (adjacent v19 v20)
  (adjacent v20 v21)
 )
 (:goal
  (and
  (free v0)
  (at r13 v1)
  (at r15 v2)
  (at r14 v3)
  (at r17 v4)
  (at r20 v5)
  (at r4 v6)
  (at r16 v7)
  (at r5 v8)
  (at r10 v9)
  (free v10)
  (at r11 v11)
  (at r19 v12)
  (at r12 v13)
  (at r3 v14)
  (at r18 v15)
  (at r2 v16)
  (at r8 v17)
  (at r7 v18)
  (at r6 v19)
  (at r9 v20)
  (at r21 v21)
  )
 )
)